Javad Sigma User manual

All contents in this manual are copyrighted by JAVAD GNSS.

stored, displayed, sold, modified, published, or distributed, or otherwise reproduced without express

written consent from JAVAD GNSS.

SIGMA

GNSS Receiver

Operator’s Manual

Version 1.1

Last Revised May 4, 2009

www.javad.com

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TABLE OF CONTENTS

Preface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

Terms and Conditions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7

Regulatory Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9

FCC Class B Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9

Canadian Emissions Labeling Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10

WEEE Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10

Manual Conventions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11

Screen Captures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11

Technical Assistance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12

Return Material Authorization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12

Chapter 1. Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

1.1. Principles of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14

1.1.1. GNSS Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14

1.1.2. Calculating Absolute Positions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15

1.1.3. Calculating Differential Positions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15

1.1.4. Essential Components for Quality Measuring. . . . . . . . . . . . . . . . . . . . . . . . . . . .16

1.2. Getting Acquainted . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17

1.2.1. SIGMA Receiver. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17

TriPad. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18

Data and Power Ports. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .19

1.2.2. Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .20

1.2.3. Literature. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .21

1.2.4. Storage Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .21

1.3. Option Authorization File (OAF) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .21

Chapter 2. Pre-measuring Preparation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

2.1. Installing JAVAD GNSS Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .23

2.1.1. Installing TriVU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .24

2.1.2. Installing ModemVU. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .24

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2.2. Installing the Optional SIM Card . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

2.3. Charging the Batteries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

2.3.1. Power supply requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

2.4. Power Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

2.5. Powering the Receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

2.5.1. Turning On/Off the Receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

2.6. Connecting the Receiver and a Computer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

2.6.1. Establishing a Wireless Connection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

2.6.2. Establishing an RS232 Cable Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

2.6.3. Establishing a USB Cable Connection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

2.7. Bluetooth® Module Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

2.8. Collecting Almanacs and Ephemerides . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

Chapter 3. Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

3.1. Configuring the Internal/External UHF Modem/GSM Module. . . . . . . . . . . . . . . . . . . 38

3.1.1. Configuring the Internal UHF modem. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

3.1.2. Configuring the GSM module for Point-to-Point radio link . . . . . . . . . . . . . . . . 41

3.1.3. Configuring the GSM module for Internet access . . . . . . . . . . . . . . . . . . . . . . . . 44

Settings for the RCV subtab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

Settings for the NTRIP subtab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

3.1.4. Configuring the External UHF Modem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

3.2. Configuring the Receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

3.3. SIGMAD Systems Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

3.3.1. Hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

3.3.2. Antennas setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

3.3.3. How to Work with SIGMAD-G2/G2D . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

Heading and Pitch Angles Determination. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

Standalone Setup. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

Differentially corrected setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

Unit Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

Angle messages. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

3.4. TriPad Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

Chapter 4. Setup and Measuring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

4.1. Receiver Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

4.1.1. Set up Receiver. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

4.1.2. Measure Antenna Height . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

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4.1.3. External Antenna Setup. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .71

4.1.4. External UHF Modem Setup. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .71

4.1.5. Collect Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .71

4.2. TriPad Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .72

4.3. Static Measuring for Base Stations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .73

4.4. Kinematic (Stop & Go) Measuring for Rover Stations. . . . . . . . . . . . . . . . . . . . . . . . . .74

4.5. Real Time Kinematic Measuring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .75

Chapter 5. Receiver and File Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

5.1. Downloading Files to a Computer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .77

5.2. Deleting Files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .80

5.3. Managing Receiver Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .82

5.3.1. Checking an OAF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .82

5.3.2. Loading OAFs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .84

5.4. Managing Receiver Memory. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .85

5.5. Clearing the NVRAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .85

5.5.1. Using TriPad to Clear NVRAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .86

5.5.2. Using TriVU to Clear NVRAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .86

5.6. Checking Firmware Version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .87

5.7. Loading New Firmware. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .89

Chapter 6. Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

6.1. Check This First!. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .93

6.2. Powering Problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .94

6.3. Receiver Problems. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .94

6.4. Technical Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .97

Appendix A. Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99

A.1. Receiver Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .99

A.1.1. General Details. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .99

A.1.2. GNSS Board Details. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .103

A.1.3. Internal UHF Modem Details. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .104

A.1.4. GSM Module Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .106

A.2. Connector Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .107

Power Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .107

Serial RS-232C Connector. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .108

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USB Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109

Ethernet Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110

RS422 and CAN Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111

GNSS External Antenna RF Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112

EVENT and 1PPS Connectors (Optional) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112

Appendix B. UHF Radio Usage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113

Appendix C. Safety Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115

General Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116

Battery Pack Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116

Power Supply. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117

Usage Warnings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118

Appendix D. Warranty Terms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119

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PREFACE

Thank you for purchasing this product. The materials available in this Manual (the “Manual”)

have been prepared by JAVAD GNSS, Inc. (“JAVAD GNSS”) for owners of JAVAD GNSS

products. It is designed to assist owners with the use of The SIGMA receiver and its use is subject

to these terms and conditions (the “Terms and Conditions”).

Note: Please read these Terms and Conditions carefully.

Terms and Conditions

USE – JAVAD GNSS receivers are designed to be used by a professional. The user is expected to

have a good knowledge and understanding of the user and safety instructions before operating,

inspecting or adjusting. Always wear the required protectors (safety shoes, helmet, etc.) when

operating the receiver.

COPYRIGHT – All information contained in this Manual is the intellectual property of, and

copyrighted material of JAVAD GNSS. All rights are reserved. You may not use, access, copy,

store, display, create derivative works of, sell, modify, publish, distribute, or allow any third party

access to, any graphics, content, information or data in this Manual without JAVAD GNSS’

express written consent and may only use such information for the care and operation of your

SIGMA. The information and data in this Manual are a valuable asset of JAVAD GNSS and are

developed by the expenditure of considerable work, time and money, and are the result of original

selection, coordination and arrangement by JAVAD GNSS.

TRADEMARKS – SIGMA™, JAVAD GNSS® are trademarks or registered trademarks of

JAVAD GNSS. Windows® is a registered trademark of Microsoft Corporation; Bluetooth® word

mark is owned by the Bluetooth SIG, Inc. Product and company names mentioned herein may be

trademarks of their respective owners.

DISCLAIMER OF WARRANTY – EXCEPT FOR ANY WARRANTIES IN THIS MANUAL

OR A WARRANTY CARD ACCOMPANYING THE PRODUCT, THIS MANUAL AND THE

SIGMA RECEIVER ARE PROVIDED “AS-IS.” THERE ARE NO OTHER WARRANTIES.

JAVAD GNSS DISCLAIMS ANY IMPLIED WARRANTY OF MERCHANTABILITY OR

FITNESS FOR ANY PARTICULAR USE OR PURPOSE. JAVAD GNSS AND ITS

DISTRIBUTORS SHALL NOT BE LIABLE FOR TECHNICAL OR EDITORIAL ERRORS OR

Preface

Terms and Conditions

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OMISSIONS CONTAINED HEREIN; NOR FOR INCIDENTAL OR CONSEQUENTIAL

DAMAGES RESULTING FROM THE FURNISHING, PERFORMANCE OR USE OF THIS

MATERIAL OR THE SIGMA RECEIVER. SUCH DISCLAIMED DAMAGES INCLUDE BUT

ARE NOT LIMITED TO LOSS OF TIME, LOSS OR DESTRUCTION OF DATA, LOSS OF

PROFIT, SAVINGS OR REVENUE, OR LOSS OF THE PRODUCT'S USE. IN ADDITION,

JAVAD GNSS IS NOT RESPONSIBLE OR LIABLE FOR DAMAGES OR COSTS INCURRED

IN CONNECTION WITH OBTAINING SUBSTITUTE PRODUCTS OR SOFTWARE,

CLAIMS BY OTHERS, INCONVENIENCE, OR ANY OTHER COSTS. IN ANY EVENT,

JAVAD GNSS SHALL HAVE NO LIABILITY FOR DAMAGES OR OTHERWISE TO YOU

OR ANY OTHER PERSON OR ENTITY IN EXCESS OF THE PURCHASE PRICE FOR THE

SIGMA RECEIVER.

LICENSE AGREEMENT – Use of any computer programs or software supplied by JAVAD

GNSS or downloaded from a JAVAD GNSS website (the “Software”) in connection with the

SIGMA receiver constitutes acceptance of these Terms and Conditions in this Manual and an

agreement to abide by these Terms and Conditions. The user is granted a personal, non-exclusive,

non-transferable license to use such Software under the terms stated herein and in any case only

with a single SIGMA or single computer. You may not assign or transfer the Software or this

license without the express written consent of JAVAD GNSS. This license is effective until

terminated. You may terminate the license at any time by destroying the Software and Manual.

JAVAD GNSS may terminate the license if you fail to comply with any of the Terms or

Conditions. You agree to destroy the Software and manual upon termination of your use of the

SIGMA receiver. All ownership, copyright and other intellectual property rights in and to the

Software belong to JAVAD GNSS. If these license terms are not acceptable, return any unused

software and manual.

CONFIDENTIALITY – This Manual, its contents and the Software (collectively, the

“Confidential Information”) are the confidential and proprietary information of JAVAD GNSS.

You agree to treat JAVAD GNSS' Confidential Information with a degree of care no less stringent

that the degree of care you would use in safeguarding your own most valuable trade secrets.

Nothing in this paragraph shall restrict you from disclosing Confidential Information to your

employees as may be necessary or appropriate to operate or care for the SIGMA receiver. Such

employees must also keep the Confidentiality Information confidential. In the event you become

legally compelled to disclose any of the Confidential Information, you shall give JAVAD GNSS

immediate notice so that it may seek a protective order or other appropriate remedy.

WEBSITE; OTHER STATEMENTS – No statement contained at the JAVAD GNSS website (or

any other website) or in any other advertisements or JAVAD GNSS literature or made by an

employee or independent contractor of JAVAD GNSS modifies these Terms and Conditions

(including the Software license, warranty and limitation of liability).

Preface

Regulatory Information

FCC Class B Compliance

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SAFETY – Improper use of the SIGMA receiver can lead to injury to persons or property and/or

malfunction of the product. The SIGMA receiver should only be repaired by authorized JAVAD

GNSS warranty service centers. Users should review and heed the safety warnings in Appendix

C on page 115.

MISCELLANEOUS – The above Terms and Conditions may be amended, modified,

superseded, or canceled, at any time by JAVAD GNSS. The above Terms and Conditions will be

governed by, and construed in accordance with, the laws of the State of California, without

reference to conflict of laws.

Regulatory Information

The following sections provide information on this product’s compliance with government

regulations.

FCC Class B Compliance

This device complies with Part 15 of the FCC rules. Operation is subject to the following two

conditions:

1. This device may not cause harmful interference, and

2. This device must accept any interference received, including interference that may cause

undesired operation.

This equipment has been tested and found to comply with the limits for a Class B digital

device, pursuant to Part 15 of the FCC rules. These limits are designed to provide reason-

able protection against harmful interference in residential installations. This equipment

generates, uses, and can radiate radio frequency energy, and if not installed and used in

accordance with the instructions, may cause harmful interference to radio communica-

tions. However, there is no guarantee that interference will not occur in a particular instal-

lation.

If this equipment does cause interference to radio or television equipment reception,

which can be determined by turning the equipment off and on, the user is encouraged to

try to correct the interference by one or more of the following measures:

• Reorient or relocate the receiving antenna.

• Move the equipment away from the receiver.

• Plug the equipment into an outlet on a circuit different from that to which the receiver is

powered.

• Consult the dealer or an experienced radio/television technician for additional

suggestions.

Preface

WEEE Directive

Canadian Emissions Labeling Requirements

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Note: Any changes or modifications to the equipment not expressly approved by the party responsible

for compliance could void your authority to operate such equipment.

Canadian Emissions Labeling Requirements

This Class B digital apparatus meets all requirements of the Canadian Interference-Causing

Equipment Regulations.

Cet appareil numérique de la classe B respecte toutes les exigences du Réglement sur le matériel

brouilleur du Canada.

WEEE Directive

The following information is for EU-member states only:

The use of the symbol indicates that this product may not be treated as household waste. By

ensuring this product is disposed of correctly, you will help prevent potential negative

consequences for the environment and human health, which could otherwise be caused by

inappropriate waste handling of this product. For more detailed information about the take-back

and recycling of this product, please contact your supplier where you purchased the product or

consult.

Preface

Manual Conventions

Canadian Emissions Labeling Requirements

11www.javad.com

Manual Conventions

This manual uses the following conventions:

Note: Supplementary information that can have an affect on system operation, system performance,

measurements, or personal safety.

C

AUTION

:

Notification that an action has the potential to adversely affect system operation, system per-

formance, data integrity, or personal health.

Warning:

Notification that an action will result in system damage, loss of data, loss of warranty, or personal

injury.

D

ANGER

:

UNDER NO CIRCUMSTANCES SHOULD THIS ACTION BE PERFORMED.

Screen Captures

This manual includes sample screen captures. Your actual screen can look slightly different from

the sample screen due to the receiver you have connected, operating system used and settings you

have specified. This is normal and not a cause for concern.

Example Description

FileExit Click the File menu and click Exit

TriPad This format represents titles of dialog

windows/boxes, names of menu options,

identifies program interface objects, such as

checkboxes, edit boxes, radio buttons, etc.

Temp

This format is used to enter various string

information (e.g., file and directory names) as

well as operator commands.

Preface

echnical Assistance

Canadian Emissions Labeling Requirements

12 www.javad.com

echnical Assistance

If you have a problem and cannot find the information you need in the product documentation,

contact your local dealer. Alternatively, request technical support using the QUESTIONS system

at the JAVAD GNSS World Wide Web site: www.javad.com

Return Material Authorization

Initially, the customer contacts support to report a problem. Please refer to support: Question

section on www.javad.com. If support determines the problem cannot be resolved over e-mail/

internet, it will authorize the return of the unit for repair or replacement, depending on the nature

of the problem.

Chapter 1

13www.javad.com

INTRODUCTION

Based on the TRIUMPH Chip, SIGMA is a fully integrated package ready for your demanding

jobs, offering precise and automatic performance beyond anything that you have experienced so

far.

An elegant, rugged, light, and hermetically sealed box accommodates all GNSS and Receiver

electronics, antennas, and up to 15 hours of rechargeable batteries and its sophisticated power

management system. The close proximity of our batteries with the electronic section helps the

batteries to absorb heat and function better in cold weathers. The batteries can be charged with

any power supply from 10 volts to 30 volts, which includes car, ship and airplane batteries

(Figure 1-1).

Figure 1-1. SIGMA Receiver

SIGMA can receive and processes multiple signal types (including the latest GPS L2C, GPS L5,

GLONASS C/A L2, and Galileo signals) improving the accuracy and reliability of your

measuring points and positions, especially under difficult jobsite conditions.

The GNSS component of SIGMA receivers means you can access the GPS (Global Positioning

System) satellites of the United States, the Galileo (an upcoming global positioning system

maintained and operated by Galileo Industries,) and the GLONASS (Global Navigation Satellite

System) satellites of the Russian Federation, increasing the number of satellites your receiver can

Introduction

Principles of Operation

GNSS Overview

14 www.javad.com

detect, thus improving the accuracy of your measuring points, increasing productivity, and

reducing cost.

Several other features, including multipath mitigation, provide under-canopy and low signal

strength reception. The SIGMA receiver provides the functionality, accuracy, availability, and

integrity needed for fast and easy data collection.

1.1. Principles of Operation

Measuring with the right GNSS receiver can provide users accurate and precise positioning, a

requirement for any measuring project. This section gives an overview of existing and proposed

Global Navigation Satellite Systems (GNSS) and receiver functions to help you understand and

apply basic operating principles, allowing you to get the most out of your receiver.

1.1.1. GNSS Overview

Currently, the following three global navigation satellite systems (GNSS) offer line-of-site radio

navigation and positioning, velocity, and time services on a global, all-weather scale to any user

equipped with a GNSS tracking receiver on or near the Earth’s surface:

• GPS – the Global Positioning System maintained and operated by the United States

Department of Defense. For information on the status of this system, visit the US Naval

Observatory website (http://tycho.usno.navy.mil/) or the US Coast Guard website

(http://www.navcen.uscg.gov/).

• GLONASS – the Global Navigation Satellite System maintained and operated by the

Russian Federation Ministry of Defense. For information on the status of this system, visit

the Coordinational Scientific Information Center website (http://www.glonasscenter.ru/

frame_e.html).

• Galileo – an upcoming global positioning system maintained and operated by Galileo

Industries, a joint venture of several European space agencies/companies working closely

with the European Space Agency. Unlike GPS and GLONASS, this is a civil endeavor

and is currently in the development and validation stage. For information on the status of

this system, visit the Galileo Industries website (http://www.galileo-industries.net).

Despite numerous technical differences in the implementation of these systems, satellite

positioning systems have three essential components:

• Space – GPS, GLONASS, and Galileo satellites orbit approximately 12,000 nautical miles

above Earth and are equipped with a clock and radio. These satellites broadcast ranging

Introduction

Principles of Operation

Calculating Absolute Positions

15www.javad.com

signals and various digital information (ephemerides, almanacs, time&frequency

corrections, etc.).

• Control – Ground stations located around the Earth that monitor the satellites and upload

data, including clock corrections and new ephemerides (satellite positions as a function of

time), to ensure the satellites transmit data properly.

• User – The community and military that use GNSS receivers to calculate positions.

1.1.2. Calculating Absolute Positions

When calculating an absolute position, a stationary or moving receiver determines its three-

dimensional position with respect to the origin of an Earth-Center Earth-Fixed coordinate system.

To calculate this position, the receiver measures the distance (called pseudoranges) between it and

at least four satellites. The measured pseudoranges are corrected for clock differences (receiver

and satellites) and signal propagation delays due to atmospheric effects. The positions of the

satellites are computed from the ephemeris data transmitted to the receiver in navigation

messages. When using a single satellite system, the minimum number of satellites needed to

compute a position is four. In a mixed satellite scenario (GPS, GLONASS, Galileo), the receiver

must lock onto five or more satellites to account for the different time scales used in these systems

and to obtain an absolute position.

1.1.3. Calculating Differential Positions

DGPS, or Differential GPS, is a relative positioning technique where the measurements from two

or more remote receivers are combined and processed using sophisticated algorithms to calculate

the receivers’ relative coordinates with high accuracy.

DGPS accommodates various implementation techniques that can be classified according to the

following criteria:

• The type of GNSS measurements used, either code-phase differential measurements or

carrier-phase differential measurements

• If real-time or post-mission results required Real-time applications can be further divided

according to the source of differential data and communication link used.

With DGPS in its most traditional approach, one receiver is placed at a known, measured location

and is referred to as the reference receiver or base station. Another receiver is placed at an

unknown location and is referred to as the remote receiver or rover. The reference station collects

the code-phase and carrier-phase measurements from each GNSS satellite in view.

Introduction

Principles of Operation

Essential Components for Quality Measuring

16 www.javad.com

• For real-time applications, these measurements and the reference station coordinates are

then built up to the industry standard RTCM – or various proprietary standards established

for transmitting differential data – and broadcast to the remote receiver(s) using a data

communication link. The remote receiver applies the transmitted measurement

information to its observed measurements of the same satellites.

• For post-mission applications, the simultaneous measurements from reference and rover

stations are normally recorded to the receiver’s internal memory (not sent over

communication link). Later, the data are downloaded to computer, combined, and

processed.

Using this technique, the spatially correlated errors – such as satellite orbital errors, ionospheric

errors, and tropospheric errors – can be significantly reduced, thus improving the position

solution accuracy.

A number of differential positioning implementations exist, including post-processing measuring,

real-time kinematic measuring, maritime radio beacons, geostationary satellites, and satellite

based augmentation systems (WAAS, EGNOS, MSAS). The real-time kinematic (RTK) method

is the most precise method of real-time measuring. RTK requires at least two receivers collecting

navigation data and communication data link between the receivers. One of the receivers is

usually at a known location (Base) and the other is at an unknown location (Rover). The Base

receiver collects carrier phase measurements, generates RTK corrections, and sends this data to

the Rover receiver. The Rover processes this transmitted data with its own carrier phase

observations to compute its relative position with high accuracy, achieving an RTK accuracy of

up to 1 cm horizontal and 1.5 cm vertical.

1.1.4. Essential Components for Quality Measuring

Achieving quality position results requires the following elements:

• Accuracy – The accuracy of a position primarily depends upon the satellite geometry

(Geometric Dilution of Precision, or GDOP) and the measurement (ranging) errors.

– Differential positioning (DGPS and RTK) strongly mitigates atmospheric and orbital

errors, and counteracts Selective Availability (SA) signals the US Department of Defense

transmits with GPS signals.

– The more satellites in view, the stronger the signal, the lower the DOP number, the

higher positioning accuracy.

• Availability – The availability of satellites affects the calculation of valid positions. The

more visible satellites available, the more valid and accurate the position. Natural and

man-made objects can block, interrupt, and distort signals, lowering the number of

available satellites and adversely affecting signal reception.

Introduction

Getting Acquainted

SIGMA Receiver

17www.javad.com

• Integrity – Fault tolerance allows a position to have greater integrity, increasing accuracy.

Several factors combine to provide fault tolerance, including:

– Receiver Autonomous Integrity Monitoring (RAIM) detects faulty GNSS satellites and

removes them from the position calculation.

– Five or more visible satellites for only GPS or only GLONASS; six or more satellites for

mixed scenarios.

– Satellite Based Augmentation Systems (WAAS, EGNOS, etc.) creates and transmit,

along with DGPS corrections, data integrity information (for example, satellite health

warnings).

– Current ephemerides and almanacs.

1.2. Getting Acquainted

SIGMA is a 216-channel GNSS receiver with internal batteries, up to two RS232 data ports1, up

to two RS422 ports, CAN, USB, Ethernet capability, an interface for controlling and viewing data

logging (TriPad), an optional internal UHF radio modem, a Bluetooth® wireless technology

module, and an optional GSM module.

1.2.1. SIGMA Receiver

The SIGMA receiver’s advanced design reduces the number of cable required for operation,

allowing you to measuring more reliably and efficiently. The casing allocates space for two

rechargeable batteries, SIM card slot, a Bluetooth® wireless technology module, a multi-system

receiver board, and a radio modem.

SIGMA comes in one of the following configurations:

• with an UHF radio modem

• with a GSM module

• with an UHF radio modem and a GSM module

• without a radio modem and a GSM module

1. Second serial port is available in case if UHF and/or GSM modem option is not selected. If

there are two (UHF and GSM modems together) modems only one serial port is available.

Introduction

Getting Acquainted

SIGMA Receiver

18 www.javad.com

TriPad

The TriPad is the receiver’s minimum interface used to display and control data input and output

(Figure 1-2).

Figure 1-2. SIGMA TriPad

The STAT (Status) LED displays the number of tracked satellites.

• When the receiver is on and no satellites are tracked, the STAT LED will blink red.

• When satellites are tracked, the STAT LED will produce one blink for each tracked

satellite (green for GPS, orange for GLONASS).

The On/Off (power) button turns the receiver on and off.

Pressing the FN button for less than one second switches the receiver between different

information modes (normal and extended information), or between static and dynamic post-

processing modes, depending on the receiver’s configuration.

• During the first second of pressing the FN button, the REC LED is orange.

• Pressing the FN button for more than one and less than five seconds will start/stop data

recording.

• During data recording the REC LED is green or orange.

• If the REC LED is red, the receiver has run out of memory, has a hardware problem, or

contains an improper OAF (see “Option Authorization File (OAF)” on page 21 for more

information on OAFs).

• The REC LED blinks green or orange each time data is written to the internal receiver's

memory.

• Each time you turn off or on data recording, either a new file opens or data appends to a

particular file. See “Always Append to the File parameter” on page 36 and “Files Creation

Mode parameter” on page 36 for information on setting this function.

• Pressing the FN button for more than five and less than eight seconds will turn the baud

rate of serial port A to 9600. After about five seconds of pressing the FN button, the REC

FN

On/Off

button

STAT

LED REC

LED

button

Introduction

Getting Acquainted

SIGMA Receiver

19www.javad.com

LED becomes red. Release the FN button while the REC LED is red (during the next three

seconds).

• Pressing the FN button for more than eight seconds has no impact.

After loading new firmware or clearing the receiver’s NVRAM, the receiver checks its internal

file system. During this operation, the REC LED flashes orange, and the file system is not

accessible for CDU (control display unit) applications or for data recording. This operation may

require from fractions of a second to several minutes, depending on the circumstances and the

amount of internal memory.

Data and Power Ports

The SIGMA receiver can be equipped according customer’s need. The SIGMA receiver can have

the following ports (Figure 1-3 on page 19):

• Power – up to two ports; used to connect the receiver to an external power source. This

port can also be used to charge the batteries. The body of the connector on the

corresponding cable is red.

• Serial – up to two; used for communication between the receiver and an external device.

The body of the connector on the corresponding cable is green.

• Ethernet (optional) - used to connect the receiver to local network. The body of the

connector on the corresponding cable is gray.

• USB (optional) – used for high-speed data transfer and communication between the

receiver and an external device. The body of the connector on the corresponding cable is

black.

• Event Marker (optional) – up to two event marker inputs;

• 1 PPS (optional) – up to two 1PPS output;

• The external GNSS antenna connects to the TNC external antenna connector (optional).

Figure 1-3. SIGMA Ports. Front side optional configuration

External Antenna Connector

Power 1

USB Serial

Ethernet

1PPS

Event

Marker

Power 2

Introduction

Getting Acquainted

Cables

20 www.javad.com

Figure 1-4. SIGMA Ports. Back side optional configuration

1.2.2. Cables

The SIGMA receiver package includes standard communication and power cables for configuring

the receiver and providing a power source to the receiver.

Receiver-to-computer RS232 serial cable – connects

the receiver’s serial port and an external device

(hand-held controller or computer)

p/n 14-578103-01

Receiver-to-SAE power cable – connects the

receiver’s power port and the power supply’s SAE

connector or the extension cable’s SAE connector

p/n 14-578101-01

SAE-to-SAE cable extension – connects SAE

connectors over longer distances

p/n 14-578102-01

Power supply with SAE connector

p/n 22-570101-01

External

Frequency

I/O

SIM card

door

Event Marker 1PPS

GSM

Antenna

Connector

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Javad Sigma User manual

Javad Sigma User manual

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